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try z level optimization with post processing

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This commit is contained in:
tamasmeszaros 2022-12-05 14:02:48 +01:00
parent 02b06f0107
commit 5e34bbcbe5
1 changed files with 210 additions and 64 deletions
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274
src/libslic3r/SLA/SupportTreeUtils.hpp
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@ -489,32 +489,31 @@ GroundConnection deepsearch_ground_connection(
WideningFn &&wideningfn,
const Vec3d &init_dir = DOWN)
{
const auto sd = sm.cfg.safety_distance(source.r);
auto sd = sm.cfg.safety_distance(source.r);
const auto gndlvl = ground_level(sm);
auto criteria = get_criteria(sm.cfg);
criteria.max_iterations(2000);
criteria.max_iterations(5000);
criteria.abs_score_diff(NaNd);
criteria.rel_score_diff(NaNd);
criteria.stop_score(gndlvl);
auto criteria_loc = criteria;
criteria_loc.max_iterations(100);
criteria_loc.abs_score_diff(EPSILON);
criteria_loc.rel_score_diff(0.05);
// Cobyla (local method) supports inequality constraints which will be
// needed here.
Optimizer<opt::NLoptAUGLAG<opt::AlgNLoptMLSL>> solver(criteria);
Optimizer<opt::AlgNLoptMLSL> solver(criteria);
solver.set_loc_criteria(criteria_loc);
solver.seed(0);
constexpr double Cap = 1e6;
Optimizer<opt::AlgNLoptMLSL> solver_initial(criteria.stop_score(Cap).max_iterations(5000));
solver_initial.set_loc_criteria(criteria_loc.stop_score(Cap));
solver_initial.seed(0);
// functor returns the z height of collision point, given a polar and
// azimuth angles as bridge direction and bridge length. The route is
// traced from source, throught this bridge and an attached pillar. If there
// is a collision with the mesh, the Z height is returned. Otherwise the
// z level of ground is returned.
size_t icnt = 0;
auto l_fn = [&](const opt::Input<3> &input) {
auto z_fn = [&](const opt::Input<3> &input) {
++icnt;
double ret = NaNd;
@ -537,7 +536,7 @@ GroundConnection deepsearch_ground_connection(
}
if (brhit_dist < bridge_len) {
ret = brhit_dist;
ret = (source.pos + brhit_dist * n).z();
} else {
// check if pillar can be placed below
auto gp = Vec3d{bridge_end.x(), bridge_end.y(), gndlvl};
@ -545,9 +544,9 @@ GroundConnection deepsearch_ground_connection(
Beam gndbeam {{bridge_end, bridge_r}, {gp, end_radius}};
auto gndhit = beam_mesh_hit(policy, sm.emesh, gndbeam, sd);
double gnd_hit_d = gndhit.distance();// std::min(gndhit.distance(), down_l + EPSILON);
double gnd_hit_d = std::min(gndhit.distance(), down_l + EPSILON);
if (std::isinf(gnd_hit_d) && sm.cfg.object_elevation_mm < EPSILON) {
if (std::isinf(gndhit.distance()) && sm.cfg.object_elevation_mm < EPSILON) {
// Dealing with zero elevation mode, to not route pillars
// into the gap between the optional pad and the model
double gap = std::sqrt(sm.emesh.squared_distance(gp));
@ -559,46 +558,12 @@ GroundConnection deepsearch_ground_connection(
}
}
ret = bridge_len + gnd_hit_d;
}
if (std::isinf(ret)) {
ret = Cap + EPSILON;
ret = bridge_end.z() - gnd_hit_d;
}
return ret;
};
auto h_fn = [&source, gndlvl](const opt::Input<3> &input) {
// solver suggests polar, azimuth and bridge length values:
auto &[plr, azm, bridge_l] = input;
Vec3d n = spheric_to_dir(plr, azm);
Vec3d bridge_end = source.pos + bridge_l * n;
double down_l = bridge_end.z() - gndlvl;
double full_l = bridge_l + down_l;
return full_l;
};
auto ineq_fn = [&](const opt::Input<3> &input) {
double h = h_fn(input);
double l = l_fn(input);
double r = h - l;
return r; // <= 0
};
auto ineq_fn_gnd = [&](const opt::Input<3> &input) {
auto &[plr, azm, bridge_l] = input;
Vec3d n = spheric_to_dir(plr, azm);
Vec3d bridge_end = source.pos + bridge_l * n;
return gndlvl - bridge_end.z(); // <= 0
};
auto [plr_init, azm_init] = dir_to_spheric(init_dir);
// Saturate the polar angle to max tilt defined in config
@ -608,20 +573,15 @@ GroundConnection deepsearch_ground_connection(
{-PI, PI}, // bounds for azimuth
{0., sm.cfg.max_bridge_length_mm} }); // bounds bridge length
auto oresult_init = solver_initial.to_max().optimize(
l_fn,
initvals({plr_init, azm_init, 0.}),
bound_constraints/*,
{},
std::make_tuple(ineq_fn_gnd)*/
);
// The optimizer can navigate fairly well on the mesh surface, finding
// lower and lower Z coordinates as collision points. MLSL is not a local
// search method, so it should not be trapped in a local minima. Eventually,
// this search should arrive at a ground location, like water flows down a
// surface.
auto oresult = solver.to_min().optimize(
h_fn,
oresult_init.optimum,
bound_constraints,
{},
std::make_tuple(ineq_fn, ineq_fn_gnd)
z_fn,
initvals({plr_init, azm_init, 0.}),
bound_constraints
);
std::cout << "Iterations: " << icnt << std::endl;
@ -629,7 +589,22 @@ GroundConnection deepsearch_ground_connection(
GroundConnection conn;
// Extract and apply the result
auto &[plr, azm, bridge_l] = oresult.optimum;
auto [plr, azm, bridge_l] = oresult.optimum;
// Now that the optimizer gave a possible route to ground with a bridge
// direction and lenght. This lenght can be shortened further by
// brute-force queries of free route straigt down for a possible pillar.
// NOTE: This requirement could be added to the optimization, but it would
// not find quickly enough an accurate solution.
double l = 0.;
double zlvl = std::numeric_limits<double>::infinity();
while(zlvl > gndlvl && l < sm.cfg.max_bridge_length_mm) {
zlvl = z_fn({plr, azm, l});
if (zlvl <= gndlvl)
bridge_l = l;
l += source.r;
}
Vec3d n = spheric_to_dir(plr, azm);
Vec3d bridge_end = source.pos + bridge_l * n;
@ -644,7 +619,7 @@ GroundConnection deepsearch_ground_connection(
if (bridge_l > EPSILON)
conn.path.emplace_back(Junction{bridge_end, bridge_r});
if (ineq_fn(oresult.optimum) <= 0. && ineq_fn_gnd(oresult.optimum) <= 0.)
if (z_fn(opt::Input<3>({plr, azm, bridge_l})) <= gndlvl)
conn.pillar_base =
Pedestal{gp, sm.cfg.base_height_mm, base_r, end_radius};
@ -663,6 +638,177 @@ GroundConnection deepsearch_ground_connection(
// const auto sd = sm.cfg.safety_distance(source.r);
// const auto gndlvl = ground_level(sm);
// auto criteria = get_criteria(sm.cfg);
// criteria.max_iterations(2000);
// criteria.abs_score_diff(NaNd);
// criteria.rel_score_diff(NaNd);
// auto criteria_loc = criteria;
// criteria_loc.max_iterations(100);
// criteria_loc.abs_score_diff(EPSILON);
// criteria_loc.rel_score_diff(0.05);
// // Cobyla (local method) supports inequality constraints which will be
// // needed here.
// Optimizer<opt::NLoptAUGLAG<opt::AlgNLoptMLSL>> solver(criteria);
// solver.set_loc_criteria(criteria_loc);
// solver.seed(0);
// constexpr double Cap = 1e6;
// Optimizer<opt::AlgNLoptMLSL> solver_initial(criteria.stop_score(Cap).max_iterations(5000));
// solver_initial.set_loc_criteria(criteria_loc.stop_score(Cap));
// solver_initial.seed(0);
// size_t icnt = 0;
// auto l_fn = [&](const opt::Input<3> &input) {
// ++icnt;
// double ret = NaNd;
// // solver suggests polar, azimuth and bridge length values:
// auto &[plr, azm, bridge_len] = input;
// Vec3d n = spheric_to_dir(plr, azm);
// Vec3d bridge_end = source.pos + bridge_len * n;
// double down_l = bridge_end.z() - gndlvl;
// double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len);
// double brhit_dist = 0.;
// if (bridge_len > EPSILON) {
// // beam_mesh_hit with a zero lenght bridge is invalid
// Beam bridgebeam{Ball{source.pos, source.r}, Ball{bridge_end, bridge_r}};
// auto brhit = beam_mesh_hit(policy, sm.emesh, bridgebeam, sd);
// brhit_dist = brhit.distance();
// }
// if (brhit_dist < bridge_len) {
// ret = brhit_dist;
// } else {
// // check if pillar can be placed below
// auto gp = Vec3d{bridge_end.x(), bridge_end.y(), gndlvl};
// double end_radius = wideningfn(Ball{bridge_end, bridge_r}, DOWN, bridge_end.z() - gndlvl);
// Beam gndbeam {{bridge_end, bridge_r}, {gp, end_radius}};
// auto gndhit = beam_mesh_hit(policy, sm.emesh, gndbeam, sd);
// double gnd_hit_d = gndhit.distance();// std::min(gndhit.distance(), down_l + EPSILON);
// if (std::isinf(gnd_hit_d) && sm.cfg.object_elevation_mm < EPSILON) {
// // Dealing with zero elevation mode, to not route pillars
// // into the gap between the optional pad and the model
// double gap = std::sqrt(sm.emesh.squared_distance(gp));
// double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
// double min_gap = sm.cfg.pillar_base_safety_distance_mm + base_r;
// if (gap < min_gap) {
// gnd_hit_d = down_l - min_gap + gap;
// }
// }
// ret = bridge_len + gnd_hit_d;
// }
// if (std::isinf(ret)) {
// ret = Cap + EPSILON;
// }
// return ret;
// };
// auto h_fn = [&source, gndlvl](const opt::Input<3> &input) {
// // solver suggests polar, azimuth and bridge length values:
// auto &[plr, azm, bridge_l] = input;
// Vec3d n = spheric_to_dir(plr, azm);
// Vec3d bridge_end = source.pos + bridge_l * n;
// double down_l = bridge_end.z() - gndlvl;
// double full_l = bridge_l + down_l;
// return full_l;
// };
// auto ineq_fn = [&](const opt::Input<3> &input) {
// double h = h_fn(input);
// double l = l_fn(input);
// double r = h - l;
// return r; // <= 0
// };
// auto ineq_fn_gnd = [&](const opt::Input<3> &input) {
// auto &[plr, azm, bridge_l] = input;
// Vec3d n = spheric_to_dir(plr, azm);
// Vec3d bridge_end = source.pos + bridge_l * n;
// return gndlvl - bridge_end.z(); // <= 0
// };
// auto [plr_init, azm_init] = dir_to_spheric(init_dir);
// // Saturate the polar angle to max tilt defined in config
// plr_init = std::max(plr_init, PI - sm.cfg.bridge_slope);
// auto bound_constraints =
// bounds({ {PI - sm.cfg.bridge_slope, PI}, // bounds for polar angle
// {-PI, PI}, // bounds for azimuth
// {0., sm.cfg.max_bridge_length_mm} }); // bounds bridge length
// auto oresult_init = solver_initial.to_max().optimize(
// l_fn,
// initvals({plr_init, azm_init, 0.}),
// bound_constraints/*,
// {},
// std::make_tuple(ineq_fn_gnd)*/
// );
// auto oresult = solver.to_min().optimize(
// h_fn,
// oresult_init.optimum,
// bound_constraints,
// {},
// std::make_tuple(ineq_fn, ineq_fn_gnd)
// );
// std::cout << "Iterations: " << icnt << std::endl;
// GroundConnection conn;
// // Extract and apply the result
// auto &[plr, azm, bridge_l] = oresult.optimum;
// Vec3d n = spheric_to_dir(plr, azm);
// Vec3d bridge_end = source.pos + bridge_l * n;
// Vec3d gp{bridge_end.x(), bridge_end.y(), gndlvl};
// double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_l);
// double down_l = bridge_end.z() - gndlvl;
// double end_radius = wideningfn(Ball{bridge_end, bridge_r}, DOWN, down_l);
// double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
// conn.path.emplace_back(source);
// if (bridge_l > EPSILON)
// conn.path.emplace_back(Junction{bridge_end, bridge_r});
// if (ineq_fn(oresult.optimum) <= 0. && ineq_fn_gnd(oresult.optimum) <= 0.)
// conn.pillar_base =
// Pedestal{gp, sm.cfg.base_height_mm, base_r, end_radius};
// return conn;
//}
//template<class Ex, class WideningFn,
// class = std::enable_if_t<IsWideningFn<WideningFn>> >
//GroundConnection deepsearch_ground_connection(
// Ex policy,
// const SupportableMesh &sm,
// const Junction &source,
// WideningFn &&wideningfn,
// const Vec3d &init_dir = DOWN)
//{
// const auto sd = sm.cfg.safety_distance(source.r);
// const auto gndlvl = ground_level(sm);
// auto criteria_heavy = get_criteria(sm.cfg);
// criteria_heavy.max_iterations(10000);
// criteria_heavy.abs_score_diff(NaNd);